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</style></head><body><style>.site-nav{display:flex;gap:20px;align-items:center;flex-wrap:wrap;padding:16px 24px;background:white;border-bottom:1px solid #ccd2d8;font:14px system-ui}.site-nav a{color:#47545e;text-decoration:none;padding:6px 0}.site-nav a[aria-current]{color:#146b65;border-bottom:2px solid #146b65;font-weight:600}.site-nav strong{margin-right:auto}@media(max-width:500px){.site-nav{padding:12px 14px;gap:16px}.site-nav strong{flex-basis:100%}}</style><nav class="site-nav" aria-label="Evaluation views"><strong>ABC Grasp Evaluation</strong><a href="index.html" aria-current="page">Agents</a><a href="world-models.html">World Models</a></nav><main>
<h1>Grasp Agent Evaluation</h1>
<section aria-label="Performance"><h2>Performance</h2><div class="table-wrap"><table><thead><tr><th>Agent</th><th>Accuracy</th><th>Failure recall</th><th>Success recall</th><th>AUROC</th></tr></thead><tbody id="performance"></tbody></table></div><p class="muted">70 attempts · Four labeled examples excluded · Success threshold 0.5</p><p id="caveats" class="note"></p></section>
<section><div class="filters"><label>Recorded outcome<select id="recorded"><option value="all">All</option><option value="success">Success</option><option value="failure">Failure</option></select></label><label>Predicted outcome<select id="predicted"><option value="all">All</option><option value="success">All success</option><option value="failure">All failure</option><option value="mix">Mix</option></select></label><label class="attempt-label">Attempt<select id="attempt"></select></label></div><p id="count" class="muted"></p><p id="empty" hidden>No matching attempts.</p>
<div id="viewer"><h2 id="title"></h2><p id="identity" class="muted"></p><div class="comparison"><div><h3>Ground truth · <span id="label"></span></h3><p class="muted">Agents saw the initial frame and commands, not the subsequent video.</p><div class="tools"><label>Camera<select id="camera"><option value="left">Left wrist</option><option value="right">Right wrist</option><option value="top">Top</option><option value="all">All cameras</option></select></label><label>Speed<select id="speed"><option value="0.25">0.25x</option><option value="0.5">0.5x</option><option value="1" selected>1x</option></select></label></div><div class="stage" id="stage"><canvas id="canvas" width="640" height="480"></canvas></div><video id="video" muted playsinline></video><input id="seek" type="range" min="0" value="0" step="1" aria-label="Video frame"><div id="track"><div id="band"></div><div id="marker"></div></div><div class="tools"><button id="play">Play</button><button class="icon" id="back" title="Previous frame" aria-label="Previous frame">&lsaquo;</button><button class="icon" id="forward" title="Next frame" aria-label="Next frame">&rsaquo;</button><button id="initial">Initial frame</button><output id="frame" class="muted"></output></div><p class="muted" id="window"></p><p id="status" role="status"></p></div><div id="predictions"></div></div></div></section>
</main><script type="application/json" id="data">{"models": [{"id": "fable5p1_extra", "name": "Fable5P1 Extra", "score": {"attempts": 70, "correct": 57, "threshold": 0.5, "accuracy": 0.8142857142857143, "balanced_accuracy": 0.8142857142857143, "class_counts": {"success": 35, "failure": 35}, "recall": {"success": 0.9428571428571428, "failure": 0.6857142857142857}, "confusion_matrix": {"rows": "recorded", "columns": "predicted", "counts": {"success": {"success": 33, "failure": 2}, "failure": {"success": 11, "failure": 24}}}, "auroc": 0.846530612244898, "brier_score": 0.1530328571428571}, "predictions": {"attempt_001": {"id": "attempt_001", "p_success": 0.78, "reason": "Shirt edge directly ahead of open fingers; gripper closes fully at cloth level, stays closed, lifts 5 cm and carries 11 cm."}, "attempt_002": {"id": "attempt_002", "p_success": 0.15, "reason": "Closes above the bin rim for only ~6 steps and reopens with no lift or pull; looks like an abandoned pinch."}, "attempt_003": {"id": "attempt_003", "p_success": 0.65, "reason": "Key-tag ring sits between the fingertips; slow close while lifting 10 cm and stays closed, but full closure only comes after rising ~4 cm."}, "attempt_004": {"id": "attempt_004", "p_success": 0.25, "reason": "Closes on the umbrella strap but barely moves, then starts reopening ~0.6 s later while the other arm keeps holding."}, "attempt_005": {"id": "attempt_005", "p_success": 0.65, "reason": "Key lies between the fingertips; hand presses to the table, closes fully, stays closed and lifts 5 cm. Thin flat object is the main risk."}, "attempt_006": {"id": "attempt_006", "p_success": 0.75, "reason": "Bowl rim is between the fingers; closes fully, then a steady 13 cm lift with the gripper kept closed."}, "attempt_007": {"id": "attempt_007", "p_success": 0.6, "reason": "Towel corner is near the right fingertip with the other arm already holding; closes and lifts 9 cm together, but lateral alignment is marginal."}, "attempt_008": {"id": "attempt_008", "p_success": 0.68, "reason": "Shoelace crosses between the fingertips; closes at table level, then 18 cm lift and long pull while closed. Thin lace is the risk."}, "attempt_009": {"id": "attempt_009", "p_success": 0.5, "reason": "Closes on the bag edge and pulls down 8 cm, then both grippers release together; consistent with a deliberate release but could be a miss."}, "attempt_010": {"id": "attempt_010", "p_success": 0.15, "reason": "Only a brief partial close (~8 steps) on the jacket followed by reopening; no pull established."}, "attempt_012": {"id": "attempt_012", "p_success": 0.68, "reason": "Small knob-like object centred between the fingertips; closes fully and stays closed, though the window is short with no motion to confirm."}, "attempt_013": {"id": "attempt_013", "p_success": 0.06, "reason": "Commands lift the hand 12-17 cm before the gripper closes, so it closes in the air above the block, then descends and reopens."}, "attempt_014": {"id": "attempt_014", "p_success": 0.68, "reason": "Toothbrush handle lies between the fingertips in the bin; slow close at the bottom, stays closed and begins lifting."}, "attempt_015": {"id": "attempt_015", "p_success": 0.72, "reason": "Round compact sits between the fingers; closes at table level, then lifts 20 cm and carries while staying closed."}, "attempt_016": {"id": "attempt_016", "p_success": 0.2, "reason": "Pinches at the table, holds ~9 steps with little motion, then reopens; looks like a missed fabric pinch."}, "attempt_017": {"id": "attempt_017", "p_success": 0.15, "reason": "Never fully closes; lifts ~7 cm, reopens at the top and comes back down, typical of an empty lift and retry."}, "attempt_018": {"id": "attempt_018", "p_success": 0.6, "reason": "Hand travels 10 cm to the napkin, closes and lifts 8 cm as the other arm moves; closing height looks high for flat cloth."}, "attempt_019": {"id": "attempt_019", "p_success": 0.58, "reason": "Key is between the fingertips; closes and lifts 4 cm, but the grip relaxes slightly at the end and the object is thin."}, "attempt_020": {"id": "attempt_020", "p_success": 0.88, "reason": "Napkin corner, held up by the other arm, hangs between the fingers; closes and both arms lift 30 cm together."}, "attempt_021": {"id": "attempt_021", "p_success": 0.55, "reason": "Slow partial close on a bowl in the rack with lift starting; window ends before closure completes, so capture is unconfirmed."}, "attempt_022": {"id": "attempt_022", "p_success": 0.88, "reason": "Cloth is at the fingertips with the other arm holding it; closes fully and lifts 23 cm with the other arm following."}, "attempt_023": {"id": "attempt_023", "p_success": 0.88, "reason": "Bunched cloth already fills the gap between the fingers; quick close and 16 cm lift while closed."}, "attempt_024": {"id": "attempt_024", "p_success": 0.12, "reason": "Flat paper corner on the table; closes, barely lifts, then reopens fully - typical failed sheet pinch."}, "attempt_025": {"id": "attempt_025", "p_success": 0.75, "reason": "Wallet strap tab sits between the fingertips; closes in place, then pulls ~6 cm while staying closed."}, "attempt_026": {"id": "attempt_026", "p_success": 0.82, "reason": "Closes on the paper edge, lifts and carries 25 cm toward the folder over 1.3 s without reopening."}, "attempt_027": {"id": "attempt_027", "p_success": 0.35, "reason": "Fast pinch and 18 cm lift, then released mid-air while descending; could be a flick of the skirt but looks more like an empty lift."}, "attempt_029": {"id": "attempt_029", "p_success": 0.2, "reason": "Closes in mid-air beside the case for ~12 steps with no pull or lift, then reopens."}, "attempt_030": {"id": "attempt_030", "p_success": 0.55, "reason": "Gripper closes gradually while already rising ~13 cm, so it may close above the top block; it does stay nearly closed and carry afterwards."}, "attempt_031": {"id": "attempt_031", "p_success": 0.15, "reason": "Closes, lifts 5-8 cm, returns down at the same spot and reopens; no transport, consistent with a missed toothbrush."}, "attempt_032": {"id": "attempt_032", "p_success": 0.68, "reason": "Cable crosses just ahead of the fingertips; closes fully, then 14 cm lift while closed."}, "attempt_033": {"id": "attempt_033", "p_success": 0.68, "reason": "Key bunch is between the fingertips; closes gradually while lifting and stays closed, short window after closure."}, "attempt_034": {"id": "attempt_034", "p_success": 0.1, "reason": "Squeezes the blocks to 0.21 and immediately reopens with no lift; contact without capture."}, "attempt_035": {"id": "attempt_035", "p_success": 0.45, "reason": "Pinches the shirt hem at the table and drags 11 cm, then starts reopening; either a deliberate straightening pull or a slipped pinch."}, "attempt_036": {"id": "attempt_036", "p_success": 0.15, "reason": "Only partial closure, reopened ~6 steps later while the hand heads back; keys likely left behind."}, "attempt_037": {"id": "attempt_037", "p_success": 0.75, "reason": "Cloth held by the other gripper passes between the fingertips; closes, lifts 5 cm, stays closed."}, "attempt_039": {"id": "attempt_039", "p_success": 0.55, "reason": "Strap tab is near the fingertips but the hand is already translating ~5 cm before closure completes; stays closed during the pull."}, "attempt_040": {"id": "attempt_040", "p_success": 0.85, "reason": "Shirt bunch held up by the other arm is between the fingers; closes fully, then 16 cm cooperative lift."}, "attempt_042": {"id": "attempt_042", "p_success": 0.12, "reason": "Staged close at the shirt edge with no lift, reopened 5 steps after closing."}, "attempt_043": {"id": "attempt_043", "p_success": 0.7, "reason": "Bowl rim is at the fingers; closes fully, then 13 cm lift while closed."}, "attempt_044": {"id": "attempt_044", "p_success": 0.7, "reason": "Cap edge is between the fingertips with the other gripper holding the cap; closes and holds through the window."}, "attempt_045": {"id": "attempt_045", "p_success": 0.25, "reason": "Closes on the flat lid at table level, lifts ~5 cm, then abruptly reopens in the air without transport."}, "attempt_046": {"id": "attempt_046", "p_success": 0.6, "reason": "Closes fully at the edge of a packaged roll and holds with a small lift; grasp geometry on the large roll is uncertain."}, "attempt_047": {"id": "attempt_047", "p_success": 0.65, "reason": "Roll end is right at the fingertips; closes fully, holds 26 steps with a small lift."}, "attempt_048": {"id": "attempt_048", "p_success": 0.62, "reason": "Long staged approach to the umbrella held by the other arm, closing 6 cm from that gripper; full closure only at the very end."}, "attempt_049": {"id": "attempt_049", "p_success": 0.42, "reason": "Closes on the bag, 12 cm downward stroke, then releases and returns while the other arm keeps holding; deliberate pull or a miss."}, "attempt_050": {"id": "attempt_050", "p_success": 0.78, "reason": "Cable lies squarely between the fingertips; closes at table level, then 18 cm lift while closed."}, "attempt_051": {"id": "attempt_051", "p_success": 0.78, "reason": "Cloth corner ahead of the fingers; descends to the table, closes, lifts 8 cm and carries 9 cm while closed."}, "attempt_052": {"id": "attempt_052", "p_success": 0.65, "reason": "Fingers straddle the bin rim; closes fully, lifts 3-4 cm and stays closed."}, "attempt_053": {"id": "attempt_053", "p_success": 0.38, "reason": "Closes near the shoe and lifts 18 cm, then releases at the top after ~0.65 s; lace pull-and-release or an empty lift."}, "attempt_054": {"id": "attempt_054", "p_success": 0.3, "reason": "Closes on a bowl in the rack, lifts only ~3 cm, pauses, lowers and releases at the same place."}, "attempt_055": {"id": "attempt_055", "p_success": 0.85, "reason": "Handover: closes 3 cm from the other gripper holding the key, and that gripper then opens."}, "attempt_056": {"id": "attempt_056", "p_success": 0.75, "reason": "Closes at the zipper pull right by the fingertip; the other gripper lets go afterwards and the target stays closed."}, "attempt_057": {"id": "attempt_057", "p_success": 0.72, "reason": "Jacket hem is between the fingertips; closes quickly and holds for the rest of the window."}, "attempt_058": {"id": "attempt_058", "p_success": 0.65, "reason": "Descends to the lid at table level, closes, then lifts 11 cm and carries while closed; thin lid is the risk."}, "attempt_059": {"id": "attempt_059", "p_success": 0.35, "reason": "Closes at table level on the lace, lifts 8 cm, holds, then abruptly reopens."}, "attempt_060": {"id": "attempt_060", "p_success": 0.9, "reason": "Umbrella strap is between the fingers; closes fully, the other arm releases right after, then a 10 cm lift."}, "attempt_061": {"id": "attempt_061", "p_success": 0.72, "reason": "Descends to the lace at table level, closes, then 18 cm lift and 22 cm travel while closed."}, "attempt_062": {"id": "attempt_062", "p_success": 0.65, "reason": "Hanging cable passes right at the fingertip; closes immediately, stays closed and moves 12 cm."}, "attempt_063": {"id": "attempt_063", "p_success": 0.9, "reason": "Handover: bag neck is between the fingers 3 cm from the other gripper, which opens right after closure."}, "attempt_064": {"id": "attempt_064", "p_success": 0.22, "reason": "Closes on the bag neck but the other gripper never lets go; target tugs, then reopens."}, "attempt_065": {"id": "attempt_065", "p_success": 0.62, "reason": "Skirt hem is at the fingertips; closes and holds while the other arm grasps and moves; closing height is somewhat high."}, "attempt_066": {"id": "attempt_066", "p_success": 0.55, "reason": "Cap edge sits just beyond the fingertips; closes and holds with no further motion to confirm capture."}, "attempt_067": {"id": "attempt_067", "p_success": 0.42, "reason": "Closes near the zipper pull, moves only ~3 cm, and begins reopening at the end while the other arm keeps holding."}, "attempt_068": {"id": "attempt_068", "p_success": 0.62, "reason": "Key lies between the fingertips; descends to the table, closes slowly and lifts 5 cm while closed."}, "attempt_069": {"id": "attempt_069", "p_success": 0.2, "reason": "Closes on the shirt bunch without lifting and reopens ~13 steps later."}, "attempt_070": {"id": "attempt_070", "p_success": 0.58, "reason": "Closes to about one block width and holds that opening while sliding the blocks 3-7 cm; no lift."}, "attempt_071": {"id": "attempt_071", "p_success": 0.45, "reason": "Strap is between the fingers at the start; closes, pulls ~6-8 cm for 0.9 s, then gradually releases while the other arm holds."}, "attempt_072": {"id": "attempt_072", "p_success": 0.2, "reason": "Closes on the compact, lifts 10 cm, then abruptly releases in mid-air without transport."}, "attempt_073": {"id": "attempt_073", "p_success": 0.22, "reason": "Towel corner is at the edge of the right finger; closes and lifts with the other arm, then releases at the top while the other arm keeps holding."}, "attempt_074": {"id": "attempt_074", "p_success": 0.12, "reason": "Reaches for a dangling cable end, closes for ~9 steps, then reopens fully with no carry."}}, "caveat": "Self-reported access outside allowed inputs."}, {"id": "astra_medium", "name": "Astra Medium", "score": {"attempts": 70, "correct": 53, "threshold": 0.5, "accuracy": 0.7571428571428571, "balanced_accuracy": 0.7571428571428571, "class_counts": {"success": 35, "failure": 35}, "recall": {"success": 0.9142857142857143, "failure": 0.6}, "confusion_matrix": {"rows": "recorded", "columns": "predicted", "counts": {"success": {"success": 32, "failure": 3}, "failure": {"success": 14, "failure": 21}}}, "auroc": 0.793469387755102, "brier_score": 0.1964171428571429}, "predictions": {"attempt_001": {"id": "attempt_001", "p_success": 0.78, "reason": "The shirt edge lies between the left fingertips; the command lowers and closes near it before retracting."}, "attempt_002": {"id": "attempt_002", "p_success": 0.35, "reason": "The right fingers approach the lid feature, but rise substantially before closure, making a secure pinch uncertain."}, "attempt_003": {"id": "attempt_003", "p_success": 0.72, "reason": "The blue tag and ring are near the left finger gap; a low, gradual closure could capture the ring before lifting."}, "attempt_004": {"id": "attempt_004", "p_success": 0.7, "reason": "Umbrella fabric is within the right jaw opening and closure stays near that region, favoring an initial pinch."}, "attempt_005": {"id": "attempt_005", "p_success": 0.65, "reason": "The key ring is close to the left jaw gap and the command descends before closing, though the small flat target may slide."}, "attempt_006": {"id": "attempt_006", "p_success": 0.8, "reason": "A left finger appears inside the bowl rim with the other outside; closure remains near the rim before the lift command."}, "attempt_007": {"id": "attempt_007", "p_success": 0.66, "reason": "The towel corner is near the left fingertips and the approach lowers toward it, but the edge is only marginally inside the gap."}, "attempt_008": {"id": "attempt_008", "p_success": 0.7, "reason": "The loose lace crosses the right jaw region; the command descends low and closes before the large upward withdrawal."}, "attempt_009": {"id": "attempt_009", "p_success": 0.45, "reason": "The bag edge is near the right fingers, but the oblique approach beside the bin could pinch the rim or miss the thin plastic."}, "attempt_010": {"id": "attempt_010", "p_success": 0.48, "reason": "The right arm approaches the jacket edge with appreciable lateral travel during closure; capture of the intended small feature is uncertain."}, "attempt_012": {"id": "attempt_012", "p_success": 0.84, "reason": "The protruding knob beneath the organizer is aligned with the right finger gap, and closure is locally steady before withdrawal."}, "attempt_013": {"id": "attempt_013", "p_success": 0.12, "reason": "Although the block starts between the left fingers, the commands raise and shift the open gripper far from it before closing."}, "attempt_014": {"id": "attempt_014", "p_success": 0.55, "reason": "A toothbrush handle lies near the right jaw gap and the command reaches low into the tray, but adjacent handles and the tray restrict access."}, "attempt_015": {"id": "attempt_015", "p_success": 0.82, "reason": "The small green item is centered between the left fingers and the command closes near table height before lifting."}, "attempt_016": {"id": "attempt_016", "p_success": 0.4, "reason": "The right arm descends toward the shirt but moves laterally toward its outer edge while closing, risking an empty or shallow pinch."}, "attempt_017": {"id": "attempt_017", "p_success": 0.4, "reason": "The tag ring is only partly aligned and the left command retreats and rises during a gradual closure, risking loss of the thin target."}, "attempt_018": {"id": "attempt_018", "p_success": 0.66, "reason": "The left command advances toward the napkin region and closes before lifting; the initial view leaves the final fabric engagement uncertain."}, "attempt_019": {"id": "attempt_019", "p_success": 0.8, "reason": "The key ring is closely centered between the left fingertips, with a low, nearly stationary closure before lifting."}, "attempt_020": {"id": "attempt_020", "p_success": 0.84, "reason": "An exposed napkin corner is presented near the left jaw gap by the other arm; the command approaches and closes before lifting."}, "attempt_021": {"id": "attempt_021", "p_success": 0.7, "reason": "The left approach descends toward the exposed bowl in the rack; partial closure could grip its width, though rack contact remains possible."}, "attempt_022": {"id": "attempt_022", "p_success": 0.8, "reason": "The right fingers straddle an accessible shirt fold and close with little displacement before the lift command."}, "attempt_023": {"id": "attempt_023", "p_success": 0.88, "reason": "Raised shirt fabric occupies the right jaw gap, supported by the other arm; prompt closure favors initial control."}, "attempt_024": {"id": "attempt_024", "p_success": 0.28, "reason": "The paper lies flat under the right fingertips with little commanded descent, so closure may press the sheet without getting beneath its edge."}, "attempt_025": {"id": "attempt_025", "p_success": 0.7, "reason": "The holder flap is accessible near the right fingers and the final closure precedes a lateral pull, though the small contact area is uncertain."}, "attempt_026": {"id": "attempt_026", "p_success": 0.7, "reason": "The paper corner lies near the right finger gap; a slight lateral adjustment and closure precede withdrawal toward the folder."}, "attempt_027": {"id": "attempt_027", "p_success": 0.74, "reason": "The right fingers approach a visible skirt fold and close low before lifting, making initial fabric capture plausible."}, "attempt_029": {"id": "attempt_029", "p_success": 0.4, "reason": "The right arm takes a long approach toward the organizer feature, whose final alignment is not visible; closure alone provides limited confidence."}, "attempt_030": {"id": "attempt_030", "p_success": 0.38, "reason": "The block group starts within the left opening, but substantial upward motion occurs while the jaws are still wide, risking clearance before capture."}, "attempt_031": {"id": "attempt_031", "p_success": 0.38, "reason": "The toothbrush handle is narrow and lies against the tray; the limited descent leaves a significant risk of closing above or beside it."}, "attempt_032": {"id": "attempt_032", "p_success": 0.8, "reason": "A cable segment runs through the left finger gap and the command closes low with little lateral motion before lifting."}, "attempt_033": {"id": "attempt_033", "p_success": 0.5, "reason": "The keys are initially well centered, but the right command rises and shifts while gradually closing, making retention of the small ring uncertain."}, "attempt_034": {"id": "attempt_034", "p_success": 0.33, "reason": "Two adjacent blocks occupy the right opening; the limited closure and shallow approach may push them together without establishing a secure grip."}, "attempt_035": {"id": "attempt_035", "p_success": 0.68, "reason": "The right command reaches table level at the shirt corner and closes before pulling laterally; the edge alignment remains somewhat marginal."}, "attempt_036": {"id": "attempt_036", "p_success": 0.28, "reason": "The right command travels substantially sideways and upward during slow closure, which could leave the small key ring outside the final pinch."}, "attempt_037": {"id": "attempt_037", "p_success": 0.7, "reason": "The pale case or cloth edge lies near the right fingertips and closure stays nearly fixed before a modest lift."}, "attempt_039": {"id": "attempt_039", "p_success": 0.75, "reason": "The exposed holder flap lies between the right fingertips; a low closure followed by a lateral pull is consistent with initial capture."}, "attempt_040": {"id": "attempt_040", "p_success": 0.84, "reason": "A hanging shirt fold sits in the left jaw gap, supported by the other arm; closure is steady before the upward pull."}, "attempt_042": {"id": "attempt_042", "p_success": 0.33, "reason": "The shirt edge starts beyond the left fingertips and the gripper retreats while closing, making a shallow or empty pinch likely."}, "attempt_043": {"id": "attempt_043", "p_success": 0.7, "reason": "The left fingers are positioned around the bowl rim and descend before closure; the nested bowls make exact rim engagement uncertain."}, "attempt_044": {"id": "attempt_044", "p_success": 0.77, "reason": "The lower hat edge is presented near the left jaw gap by the other arm, and closure occurs with little displacement."}, "attempt_045": {"id": "attempt_045", "p_success": 0.48, "reason": "The right fingertips are close to the coffee lid edge, but its thin profile and shallow descent make getting under the rim uncertain."}, "attempt_046": {"id": "attempt_046", "p_success": 0.55, "reason": "The right fingers approach the lower roll near the shelf rail; closure may catch the roll or wrapping, but access is constrained."}, "attempt_047": {"id": "attempt_047", "p_success": 0.65, "reason": "The exposed roll edge is near the right jaw opening and closure is locally steady, though the shelf and wrapper obscure the contact."}, "attempt_048": {"id": "attempt_048", "p_success": 0.65, "reason": "The right command descends along the folded umbrella while narrowing the jaws, plausibly capturing fabric but with uncertain final alignment."}, "attempt_049": {"id": "attempt_049", "p_success": 0.72, "reason": "The bag lip visibly spans the right finger region; closure near the rim could establish control before the subsequent pull."}, "attempt_050": {"id": "attempt_050", "p_success": 0.84, "reason": "A black cable crosses the left jaw gap and the command closes near the table before lifting with the jaws closed."}, "attempt_051": {"id": "attempt_051", "p_success": 0.65, "reason": "The right command lowers toward the pale case or cloth edge before closing; access is plausible despite the neighboring gripper."}, "attempt_052": {"id": "attempt_052", "p_success": 0.75, "reason": "The right fingers are close to the lid feature and closure occurs after a small downward adjustment, favoring capture before lifting."}, "attempt_053": {"id": "attempt_053", "p_success": 0.45, "reason": "The lace is thin and displaced from the initial right jaw center; the long descending approach leaves its position at closure uncertain."}, "attempt_054": {"id": "attempt_054", "p_success": 0.42, "reason": "The bowl is tightly surrounded by rack wires and neighboring bowls, so the left closure may hit an obstruction or catch only a shallow rim."}, "attempt_055": {"id": "attempt_055", "p_success": 0.65, "reason": "The other arm presents a small key near the left gripper; the left command converges toward it before closing, but handoff alignment is delicate."}, "attempt_056": {"id": "attempt_056", "p_success": 0.72, "reason": "The zipper pull is visible near the left finger gap and closure occurs near its height before a backward pull."}, "attempt_057": {"id": "attempt_057", "p_success": 0.6, "reason": "The right fingers approach an accessible jacket edge and close with limited travel, though capture of the intended zipper region is partly occluded."}, "attempt_058": {"id": "attempt_058", "p_success": 0.72, "reason": "The right command descends to the lid edge at table level before closing, improving the chance of pinching beneath its rim."}, "attempt_059": {"id": "attempt_059", "p_success": 0.5, "reason": "The right arm approaches a loose shoelace and closes low, but its long travel and the thin movable target leave substantial alignment uncertainty."}, "attempt_060": {"id": "attempt_060", "p_success": 0.88, "reason": "The folded umbrella and strap fill the right jaw opening; closure occurs after a short descent and before withdrawal."}, "attempt_061": {"id": "attempt_061", "p_success": 0.73, "reason": "The right command descends fully to the loose lace region and closes before lifting, favoring a pinch despite the thin target."}, "attempt_062": {"id": "attempt_062", "p_success": 0.65, "reason": "The hanging cable is near the right finger gap and the jaws close promptly, though the initial upward command may change the contact location."}, "attempt_063": {"id": "attempt_063", "p_success": 0.8, "reason": "The other arm presents a gathered bag section across the right jaw region; a local approach and full closure favor initial capture."}, "attempt_064": {"id": "attempt_064", "p_success": 0.4, "reason": "The bag is presented nearby, but the right approach shifts along the thin plastic and starts withdrawing during closure, risking a missed pinch."}, "attempt_065": {"id": "attempt_065", "p_success": 0.35, "reason": "The skirt edge is beyond the right fingertips and the closure remains relatively high, with little descent to gather the flat fabric."}, "attempt_066": {"id": "attempt_066", "p_success": 0.45, "reason": "The hat edge is only marginally inside the left jaw opening; modest descent and closure may contact the brim without securely enclosing it."}, "attempt_067": {"id": "attempt_067", "p_success": 0.38, "reason": "The zipper pull is offset near one left fingertip, and the command retreats while narrowing the gap, risking a pinch of surrounding fabric instead."}, "attempt_068": {"id": "attempt_068", "p_success": 0.75, "reason": "The key ring lies between the left fingertips; the command lowers to the surface and closes before lifting, though the flat key may shift."}, "attempt_069": {"id": "attempt_069", "p_success": 0.62, "reason": "The other arm presents a shirt fold near the left gap; closure could capture it, but the upward approach leaves uncertain depth of engagement."}, "attempt_070": {"id": "attempt_070", "p_success": 0.3, "reason": "The right jaws encompass two blocks but retain a substantial opening while shifting sideways; pushing is more plausible than a secure initial grip."}, "attempt_071": {"id": "attempt_071", "p_success": 0.58, "reason": "The right fingers begin around a narrow umbrella section and close promptly, but the subsequent downward motion could slide along the fabric."}, "attempt_072": {"id": "attempt_072", "p_success": 0.3, "reason": "The green item is offset toward one left finger and the command retreats at table level during closure, risking displacement rather than enclosure."}, "attempt_073": {"id": "attempt_073", "p_success": 0.42, "reason": "The towel corner lies near one left fingertip rather than centered in the gap; closure without additional descent risks missing the fabric."}, "attempt_074": {"id": "attempt_074", "p_success": 0.3, "reason": "The dangling cable begins outside the right jaw center; the approach closes after substantial lateral motion without clear evidence of enclosing it."}}, "caveat": ""}, {"id": "astra_high", "name": "Astra High", "score": {"attempts": 70, "correct": 49, "threshold": 0.5, "accuracy": 0.7, "balanced_accuracy": 0.7, "class_counts": {"success": 35, "failure": 35}, "recall": {"success": 0.8857142857142857, "failure": 0.5142857142857142}, "confusion_matrix": {"rows": "recorded", "columns": "predicted", "counts": {"success": {"success": 31, "failure": 4}, "failure": {"success": 17, "failure": 18}}}, "auroc": 0.7493877551020408, "brier_score": 0.21275857142857146}, "predictions": {"attempt_001": {"id": "attempt_001", "p_success": 0.86, "reason": "The red fabric corner lies between the left fingertips; a short descent and full closure precede the commanded lift."}, "attempt_002": {"id": "attempt_002", "p_success": 0.34, "reason": "The right fingers approach the bin rim, but the command rises about 7 cm before tight closure, risking a pinch above the rim rather than control of it."}, "attempt_003": {"id": "attempt_003", "p_success": 0.64, "reason": "The visible key-ring/tag lies within the left jaw approach; the low closing motion could pinch it, though the thin ring may slip."}, "attempt_004": {"id": "attempt_004", "p_success": 0.84, "reason": "The bundled umbrella is centered between the right jaws, which close almost fully while maintaining a stable grasp position."}, "attempt_005": {"id": "attempt_005", "p_success": 0.68, "reason": "The left approach shifts toward the visible keys and descends to table level before closing, giving a plausible but thin-object pinch."}, "attempt_006": {"id": "attempt_006", "p_success": 0.58, "reason": "The left fingertips straddle part of the bowl rim, but the closing height is slightly above the initial pose and rim engagement is marginal."}, "attempt_007": {"id": "attempt_007", "p_success": 0.72, "reason": "The towel corner is near the left jaw gap; the command lowers and closes before lifting, with some lateral edge misalignment."}, "attempt_008": {"id": "attempt_008", "p_success": 0.53, "reason": "A loose shoelace crosses near the right fingertips; the low approach could trap it, but translation during closure may sweep past the narrow strand."}, "attempt_009": {"id": "attempt_009", "p_success": 0.36, "reason": "The bag edge is offset toward one right fingertip; the approach may reach it, but the closing corridor also contains substantial empty space."}, "attempt_010": {"id": "attempt_010", "p_success": 0.3, "reason": "The zipper area is poorly isolated in the right jaw gap, and a substantial sideways/downward approach makes a secure pinch uncertain."}, "attempt_012": {"id": "attempt_012", "p_success": 0.76, "reason": "The small gold protrusion beneath the mirror is centered between the right fingers, and closure is commanded with little lateral drift."}, "attempt_013": {"id": "attempt_013", "p_success": 0.09, "reason": "Although the block starts between the left fingers, the command lifts roughly 17 cm and shifts sideways before substantial closure."}, "attempt_014": {"id": "attempt_014", "p_success": 0.79, "reason": "A toothbrush handle is aligned with the right jaw gap; the approach descends into the tray and closes before the lift."}, "attempt_015": {"id": "attempt_015", "p_success": 0.9, "reason": "The round cosmetic container is well centered within the open left jaws, followed by a low, nearly stationary closure."}, "attempt_016": {"id": "attempt_016", "p_success": 0.28, "reason": "The right approach descends while moving outward across the shirt edge; much of the closing motion may occur beyond the fabric."}, "attempt_017": {"id": "attempt_017", "p_success": 0.34, "reason": "The key ring is near the left fingertips, but the command retreats several centimeters while slowly closing, risking loss of the thin ring."}, "attempt_018": {"id": "attempt_018", "p_success": 0.3, "reason": "The left gap initially covers mostly bare table; the long forward approach closes relatively high, making engagement of the nearby thin material uncertain."}, "attempt_019": {"id": "attempt_019", "p_success": 0.87, "reason": "The key head is centered between the left fingertips and the command closes at low height with only a small positional adjustment."}, "attempt_020": {"id": "attempt_020", "p_success": 0.85, "reason": "The cloth edge is close to the left opening and the short forward, downward approach closes fully before the large lift."}, "attempt_021": {"id": "attempt_021", "p_success": 0.43, "reason": "The approach reaches toward the white bowl, but rack wires obstruct access and the commanded gripper remains partly open, leaving rim capture uncertain."}, "attempt_022": {"id": "attempt_022", "p_success": 0.86, "reason": "A raised shirt fold lies within the right fingers, and the small repositioning is followed by full closure before lifting."}, "attempt_023": {"id": "attempt_023", "p_success": 0.91, "reason": "The other arm presents a substantial fabric fold directly across the right jaw gap, which closes promptly with only a short approach."}, "attempt_024": {"id": "attempt_024", "p_success": 0.25, "reason": "The paper lies nearly flush with the table and obliquely outside much of the right opening; almost stationary closure may press or miss the edge."}, "attempt_025": {"id": "attempt_025", "p_success": 0.82, "reason": "The wallet tab is presented between the right fingertips while the left arm supports the holder; the closing command returns to this pinch region."}, "attempt_026": {"id": "attempt_026", "p_success": 0.68, "reason": "The right jaws more closely bracket the sheet edge, with a small lateral adjustment and complete closure before the transfer motion."}, "attempt_027": {"id": "attempt_027", "p_success": 0.78, "reason": "The skirt edge overlaps the right jaw gap; the command approaches the material and closes at low height before lifting."}, "attempt_029": {"id": "attempt_029", "p_success": 0.38, "reason": "The right gripper begins far from the mirror attachment and makes a large rotating approach; final alignment with the small grasp feature is uncertain."}, "attempt_030": {"id": "attempt_030", "p_success": 0.71, "reason": "The upper wooden block spans the left opening, and the rising closure could catch its opposing sides, although adjacent blocks complicate access."}, "attempt_031": {"id": "attempt_031", "p_success": 0.58, "reason": "The toothbrush handle is near the center of the narrow right opening, but lateral adjustment during the low approach could displace the slim handle."}, "attempt_032": {"id": "attempt_032", "p_success": 0.33, "reason": "The cable loops flank the left opening rather than clearly crossing its center; the short retreat and closure may trap empty space."}, "attempt_033": {"id": "attempt_033", "p_success": 0.67, "reason": "The key heads sit directly between the right fingertips; closure could secure them early, though the simultaneous rise reduces the margin."}, "attempt_034": {"id": "attempt_034", "p_success": 0.52, "reason": "Both wooden pieces fall inside the right opening and closure stays low, but capturing two offset pieces with only partial closure is uncertain."}, "attempt_035": {"id": "attempt_035", "p_success": 0.86, "reason": "The shirt corner is positioned across the right opening, and the command closes near table level before pulling away."}, "attempt_036": {"id": "attempt_036", "p_success": 0.28, "reason": "The keys start ahead of the right fingertips, and the arm sweeps laterally while retaining a partial opening, making a firm thin-object pinch unlikely."}, "attempt_037": {"id": "attempt_037", "p_success": 0.89, "reason": "The blue fabric case is held across the right fingertips by the other arm, with a steady, complete closing command at its exposed end."}, "attempt_039": {"id": "attempt_039", "p_success": 0.7, "reason": "The wallet tab lies between the right jaws and is supported by the left arm, although sideways motion during closure may pull past it."}, "attempt_040": {"id": "attempt_040", "p_success": 0.76, "reason": "The left opening faces a loose fabric edge supported by the other arm; the short forward approach and closure plausibly capture the fold."}, "attempt_042": {"id": "attempt_042", "p_success": 0.39, "reason": "The shirt edge starts ahead of the left fingertips, and the command retreats laterally before reaching a tight closure, risking an empty pinch."}, "attempt_043": {"id": "attempt_043", "p_success": 0.63, "reason": "One left finger is inside the bowl and the other outside its rim; the localized closing motion plausibly grips the rim, with some height uncertainty."}, "attempt_044": {"id": "attempt_044", "p_success": 0.79, "reason": "The hat brim overlaps the left opening while the other arm supports the hat; a short downward approach and near-full closure favor capture."}, "attempt_045": {"id": "attempt_045", "p_success": 0.58, "reason": "The lid rim is near the right fingertips and the command lowers slightly before closing; its thin, oblique edge makes secure capture uncertain."}, "attempt_046": {"id": "attempt_046", "p_success": 0.32, "reason": "The paper roll is mostly to one side of the right opening, with a shelf rail in the approach region; closure may contact packaging or shelving without capture."}, "attempt_047": {"id": "attempt_047", "p_success": 0.75, "reason": "The exposed end of the wrapped paper roll overlaps the right opening, and a small approach is followed by full closure before withdrawal."}, "attempt_048": {"id": "attempt_048", "p_success": 0.59, "reason": "The umbrella bundle partly overlaps the right gap; the descending, rotating closure may secure it, but alignment changes substantially during approach."}, "attempt_049": {"id": "attempt_049", "p_success": 0.82, "reason": "A substantial fold of the black bag lies between the right fingertips, and the short inward/downward approach provides a plausible pinch before withdrawal."}, "attempt_050": {"id": "attempt_050", "p_success": 0.88, "reason": "A cable strand clearly crosses the center of the left opening; the command closes at low height with little displacement before lifting."}, "attempt_051": {"id": "attempt_051", "p_success": 0.73, "reason": "The right fingertips bracket the blue case edge; the low final closure can capture it, though the preceding adjustments may push the soft material."}, "attempt_052": {"id": "attempt_052", "p_success": 0.87, "reason": "The right fingers straddle the bin rim, and closure occurs near the initial position before the upward command, favoring control of the rim."}, "attempt_053": {"id": "attempt_053", "p_success": 0.43, "reason": "The loose lace crosses the broad right opening, but the long downward and lateral approach must retain a narrow strand through closure."}, "attempt_054": {"id": "attempt_054", "p_success": 0.52, "reason": "The left opening reaches around the blue bowl, but neighboring bowls and rack wires restrict access while the gripper rotates during closure."}, "attempt_055": {"id": "attempt_055", "p_success": 0.77, "reason": "The other gripper presents the keys to the left opening; the left command turns and advances toward the exposed metal before closing fully."}, "attempt_056": {"id": "attempt_056", "p_success": 0.81, "reason": "The backpack zipper pull hangs near the center of the left fingertips, and the small approach followed by full closure can secure the tab."}, "attempt_057": {"id": "attempt_057", "p_success": 0.73, "reason": "The jacket edge is presented near the right jaw gap; prompt closure after a small adjustment plausibly establishes a fabric pinch."}, "attempt_058": {"id": "attempt_058", "p_success": 0.85, "reason": "The right approach descends toward the exposed lid rim and closes near table level before lifting, giving good access to its edge."}, "attempt_059": {"id": "attempt_059", "p_success": 0.62, "reason": "The long approach aims at the loose lace and finishes with a low, localized closure; uncertainty remains about strand position after the approach."}, "attempt_060": {"id": "attempt_060", "p_success": 0.92, "reason": "The umbrella bundle fills the right jaw gap, and a short descent is followed by decisive closure before the outward lift."}, "attempt_061": {"id": "attempt_061", "p_success": 0.72, "reason": "The right command reaches the loose shoelace at very low height and closes fully before pulling upward, although the approach is long."}, "attempt_062": {"id": "attempt_062", "p_success": 0.78, "reason": "The hanging cable passes close to the right pinch line while the left arm holds the spool; prompt closure after the upward adjustment can catch it."}, "attempt_063": {"id": "attempt_063", "p_success": 0.83, "reason": "The left arm presents gathered bag material toward the right opening, and the right approach moves into it before a complete closure."}, "attempt_064": {"id": "attempt_064", "p_success": 0.46, "reason": "The bag neck is near the right fingertips, but the extended downward adjustment and retreat during closure may move the pinch below the supported material."}, "attempt_065": {"id": "attempt_065", "p_success": 0.68, "reason": "A skirt fold projects into the right opening, and the nearly stationary downward closure may pinch it; the elevated starting height leaves some uncertainty."}, "attempt_066": {"id": "attempt_066", "p_success": 0.86, "reason": "The hat edge is presented across the left fingertips by the other arm, and the small downward adjustment preserves alignment through closure."}, "attempt_067": {"id": "attempt_067", "p_success": 0.4, "reason": "The zipper pull is offset toward the right side of the left jaw gap, and the closing motion retreats across the tab rather than remaining centered."}, "attempt_068": {"id": "attempt_068", "p_success": 0.74, "reason": "The key lies within the left opening, and the approach descends to the table with a small lateral correction before fully closing."}, "attempt_069": {"id": "attempt_069", "p_success": 0.45, "reason": "The fabric fold is near one left fingertip, but the command rises several centimeters before closing and then retreats, making edge engagement uncertain."}, "attempt_070": {"id": "attempt_070", "p_success": 0.3, "reason": "The right gripper spans two offset blocks and sweeps sideways while remaining partly open, which may push them rather than establish a stable grasp."}, "attempt_071": {"id": "attempt_071", "p_success": 0.84, "reason": "The umbrella strap and bundle lie inside the narrow right opening; rapid full closure precedes the larger downward pull."}, "attempt_072": {"id": "attempt_072", "p_success": 0.31, "reason": "One left fingertip overlaps the compact instead of cleanly straddling it, and the low retreating closure could push the container out of the gap."}, "attempt_073": {"id": "attempt_073", "p_success": 0.42, "reason": "The towel corner sits close to one left fingertip, while the command closes slightly above the initial height; the thin edge may remain below the pinch."}, "attempt_074": {"id": "attempt_074", "p_success": 0.34, "reason": "The suspended cable starts well ahead and to one side of the right opening; the lateral approach must intercept a thin, unsupported strand before closing."}}, "caveat": ""}, {"id": "astra_ultra", "name": "Astra Ultra", "score": {"attempts": 70, "correct": 49, "threshold": 0.5, "accuracy": 0.7, "balanced_accuracy": 0.7, "class_counts": {"success": 35, "failure": 35}, "recall": {"success": 0.9428571428571428, "failure": 0.45714285714285713}, "confusion_matrix": {"rows": "recorded", "columns": "predicted", "counts": {"success": {"success": 33, "failure": 2}, "failure": {"success": 19, "failure": 16}}}, "auroc": 0.7518367346938776, "brier_score": 0.2162842857142857}, "predictions": {"attempt_001": {"id": "attempt_001", "p_success": 0.78, "reason": "The left fingertips approach the exposed red shirt edge, close near cloth height, and then retract with the gripper shut."}, "attempt_002": {"id": "attempt_002", "p_success": 0.2, "reason": "The right fingers start beside the bare bin rim, but rise several centimeters before closing, making a secure rim pinch unlikely."}, "attempt_003": {"id": "attempt_003", "p_success": 0.66, "reason": "The blue tag and metal ring lie near the left jaw gap; a low, gradual closure could catch them, though the flat metal offers little purchase."}, "attempt_004": {"id": "attempt_004", "p_success": 0.88, "reason": "The right jaws surround the wrapped umbrella held by the other arm, with little displacement during closure and substantial material to pinch."}, "attempt_005": {"id": "attempt_005", "p_success": 0.64, "reason": "The key lies close to the left jaw gap and the approach lowers to the tabletop before closing, though the thin angled blade can slide away."}, "attempt_006": {"id": "attempt_006", "p_success": 0.86, "reason": "The left fingers straddle the green bowl rim and close with little lateral drift before an upward command, providing a plausible rim grasp."}, "attempt_007": {"id": "attempt_007", "p_success": 0.67, "reason": "The towel corner lies beside the left fingertips and the commands close low before both arms lift; the edge is somewhat offset within the gap."}, "attempt_008": {"id": "attempt_008", "p_success": 0.76, "reason": "The loose lace crosses the right grasping region; the approach descends to its level and closes before the large upward pull."}, "attempt_009": {"id": "attempt_009", "p_success": 0.58, "reason": "The right fingers approach the draped bag edge and close while the opposite side is held, but the thin plastic sits near one jaw and may slip past."}, "attempt_010": {"id": "attempt_010", "p_success": 0.39, "reason": "The right gripper moves a considerable distance across the jacket while descending and closing, leaving uncertain alignment with the intended fabric edge."}, "attempt_012": {"id": "attempt_012", "p_success": 0.8, "reason": "The organizer knob is centered between the right fingertips while the other arm steadies the panel; closure occurs with little lateral motion."}, "attempt_013": {"id": "attempt_013", "p_success": 0.05, "reason": "Although the block starts between the open fingers, the command raises the left grasp site far above it before substantial closure."}, "attempt_014": {"id": "attempt_014", "p_success": 0.62, "reason": "The right jaws flank a toothbrush handle and descend into the tray before closing, but the long sliding approach and neighboring handles create miss risk."}, "attempt_015": {"id": "attempt_015", "p_success": 0.84, "reason": "The green compact is centered within the left jaw span; the command lowers to tabletop height, closes, and then lifts with the gripper shut."}, "attempt_016": {"id": "attempt_016", "p_success": 0.24, "reason": "The right grasp starts outside the shirt edge and shifts farther outward while closing near the table, making empty closure or a shallow brush likely."}, "attempt_017": {"id": "attempt_017", "p_success": 0.32, "reason": "The tag lies mostly outside the left jaw gap, and the grasp retracts and rises while gradually closing, risking loss of the small exposed ring."}, "attempt_018": {"id": "attempt_018", "p_success": 0.25, "reason": "The left command advances toward the napkin but closes at a relatively high grasp-site position; the initial fingers do not visibly enclose its edge."}, "attempt_019": {"id": "attempt_019", "p_success": 0.8, "reason": "The key head is well centered between the left fingers, with a short low approach and closure before the upward command."}, "attempt_020": {"id": "attempt_020", "p_success": 0.87, "reason": "The other arm holds the napkin up, presenting its edge to the left fingers; the left approach closes on that edge before lifting together."}, "attempt_021": {"id": "attempt_021", "p_success": 0.71, "reason": "The left approach brings the open jaws toward the white bowl before gradual closure and a short rise; the rim is accessible, although rack wires and the neighboring bowl could interfere."}, "attempt_022": {"id": "attempt_022", "p_success": 0.87, "reason": "A raised red fabric edge is near the right jaw opening, and the commands finish closing near the low approach point before a substantial lift."}, "attempt_023": {"id": "attempt_023", "p_success": 0.9, "reason": "The right fingers bracket an elevated fold of red fabric supported by the other arm; they close promptly before the commanded upward withdrawal."}, "attempt_024": {"id": "attempt_024", "p_success": 0.35, "reason": "The thin paper edge lies toward one side of the right jaw opening, with one finger apparently over the stack; the shallow commanded approach leaves uncertain purchase beneath the sheets."}, "attempt_025": {"id": "attempt_025", "p_success": 0.65, "reason": "The wallet fastening tab lies between the right pads while the other arm supports the holder; the later close-and-pull commands could secure it, though earlier lateral motion makes alignment uncertain."}, "attempt_026": {"id": "attempt_026", "p_success": 0.68, "reason": "The right fingers are near the exposed paper-stack edge and adjust toward it before completing closure, then command a sustained closed transfer; getting beneath the thin sheets remains uncertain."}, "attempt_027": {"id": "attempt_027", "p_success": 0.86, "reason": "A loose white fabric fold spans the right jaw opening, and the commands descend slightly and close fully before lifting; the fold offers substantial material to pinch."}, "attempt_029": {"id": "attempt_029", "p_success": 0.4, "reason": "The right arm makes a long approach toward the upright makeup container, but its eventual small grasp feature is not clearly bracketed initially; closure is followed by lateral movement and reopening."}, "attempt_030": {"id": "attempt_030", "p_success": 0.69, "reason": "The horizontal wooden block lies between the left fingers, and early narrowing can contact its sides; capture is plausible, though the gripper starts rising before closure is complete."}, "attempt_031": {"id": "attempt_031", "p_success": 0.83, "reason": "The pale toothbrush handle is well centered between the right fingers, which descend and nearly finish closing before the main rise; neighboring handles introduce some interference risk."}, "attempt_032": {"id": "attempt_032", "p_success": 0.33, "reason": "The black cable mainly loops outside the left fingertip gap, with little strand material visibly centered; the small approach adjustment may leave the closing jaws pinching empty space."}, "attempt_033": {"id": "attempt_033", "p_success": 0.43, "reason": "The keyring is centered between the right fingertips, but the commands begin lifting and translating while closure is still incomplete, making secure purchase on the flat metal uncertain."}, "attempt_034": {"id": "attempt_034", "p_success": 0.64, "reason": "The two blocks lie between the right fingers, and the commands lower and substantially narrow the jaws at nearly fixed position, making an initial squeeze plausible despite uncertain purchase on both blocks."}, "attempt_035": {"id": "attempt_035", "p_success": 0.84, "reason": "The blue shirt edge lies across the right jaw opening, and the commands descend to the fabric before closing and pulling laterally, making an initial fabric pinch likely."}, "attempt_036": {"id": "attempt_036", "p_success": 0.3, "reason": "The small flat keyring starts beyond the right fingertips; the approach begins rising and sweeping laterally before a tight closure, increasing the chance of sliding past it."}, "attempt_037": {"id": "attempt_037", "p_success": 0.86, "reason": "The right jaws straddle the exposed pale fabric edge and close at almost fixed position before rising, providing a favorable initial pinch despite nearby gripper clutter."}, "attempt_039": {"id": "attempt_039", "p_success": 0.74, "reason": "The wallet tab is visible between the right pads while the left arm supports the holder; closure followed by a sustained outward pull is compatible with securing the tab."}, "attempt_040": {"id": "attempt_040", "p_success": 0.84, "reason": "The left fingers face an accessible hanging fold of beige fabric held up by the other arm; the commands finish closing around that region before the larger lift."}, "attempt_042": {"id": "attempt_042", "p_success": 0.41, "reason": "The left fingers approach the red shirt hem, but the closing command drifts back and sideways while rising, leaving uncertain overlap with the loose fabric."}, "attempt_043": {"id": "attempt_043", "p_success": 0.89, "reason": "The left fingers straddle the green bowl rim, and the command closes with little lateral motion before lifting, favoring a secure rim pinch."}, "attempt_044": {"id": "attempt_044", "p_success": 0.83, "reason": "The black cap edge is presented by the other arm; the left fingers advance slightly into that edge and close nearly in place."}, "attempt_045": {"id": "attempt_045", "p_success": 0.64, "reason": "The right fingers are aligned across the near coffee-lid rim and descend before closing; the thin sloping edge could still slip or be pushed away."}, "attempt_046": {"id": "attempt_046", "p_success": 0.4, "reason": "The right fingers approach the paper roll near its lower edge, but the shelf rails and off-center contact leave limited room for a secure pinch."}, "attempt_047": {"id": "attempt_047", "p_success": 0.64, "reason": "The right fingers are positioned on either side of the exposed roll edge and close after a small approach, though the neighboring shelf bars constrain engagement."}, "attempt_048": {"id": "attempt_048", "p_success": 0.62, "reason": "The opposite arm supports the folded umbrella while the right hand descends and closes around its lower section; folds obscure the exact material between the jaws."}, "attempt_049": {"id": "attempt_049", "p_success": 0.89, "reason": "A substantial fold of the black trash bag lies between the right fingers; the short approach and full closure should establish an initial pinch."}, "attempt_050": {"id": "attempt_050", "p_success": 0.87, "reason": "The thick dark cable crosses the left jaw opening, and a short descent followed by full closure should trap a segment before the commanded lift."}, "attempt_051": {"id": "attempt_051", "p_success": 0.73, "reason": "The right fingers bracket the edge of the blue cloth while the other arm supports its opposite end; the low closing position favors capture, with some risk of flattening it."}, "attempt_052": {"id": "attempt_052", "p_success": 0.9, "reason": "The right fingers straddle the empty bin rim with one finger inside and one outside; the small adjustment and full closure provide a favorable rigid-edge grip."}, "attempt_053": {"id": "attempt_053", "p_success": 0.66, "reason": "A white lace segment lies within the right gripper approach corridor, but the narrow flexible target and closure beginning during withdrawal make capture less certain."}, "attempt_054": {"id": "attempt_054", "p_success": 0.48, "reason": "The left fingers bracket the blue patterned bowl, but the tight rack slots and substantial rotation during closure can obstruct opposing contact with the bowl."}, "attempt_055": {"id": "attempt_055", "p_success": 0.77, "reason": "The other gripper presents the small key assembly, and the left hand approaches its position before fully closing; the narrow partly occluded target leaves alignment uncertainty."}, "attempt_056": {"id": "attempt_056", "p_success": 0.81, "reason": "The backpack zipper tab is centered just ahead of the left jaw opening; the short approach, full closure, and backward pull favor an initial pinch."}, "attempt_057": {"id": "attempt_057", "p_success": 0.75, "reason": "The right fingers bracket the jacket edge and make a short forward adjustment before closing, providing a plausible fabric pinch despite its low, flat profile."}, "attempt_058": {"id": "attempt_058", "p_success": 0.8, "reason": "The right fingers approach the near edge of the coffee lid with a substantial low descent before full closure, favoring engagement of the raised rim."}, "attempt_059": {"id": "attempt_059", "p_success": 0.6, "reason": "The right command descends toward a loose lace before closing near the table, but the long approach and the other arm's commanded pull make strand alignment uncertain."}, "attempt_060": {"id": "attempt_060", "p_success": 0.85, "reason": "The umbrella strap and folded fabric span the right jaw opening while the other arm supports the umbrella; a short descent and full closure favor capture."}, "attempt_061": {"id": "attempt_061", "p_success": 0.68, "reason": "The right command descends toward the exposed lace beside the shoe and closes at tabletop height before withdrawing, providing a plausible pinch of the thin strand."}, "attempt_062": {"id": "attempt_062", "p_success": 0.72, "reason": "The hanging cable passes near the right finger gap, and the command closes with little lateral motion; its position near one fingertip leaves some miss risk."}, "attempt_063": {"id": "attempt_063", "p_success": 0.76, "reason": "The right command moves inward and down toward the bag fold held by the left arm, then closes fully; the supported plastic offers a plausible opposing pinch."}, "attempt_064": {"id": "attempt_064", "p_success": 0.52, "reason": "The right fingers face the supported bag neck, but the closing target rises several centimeters above the left grasp, making engagement with the thin loose flap uncertain."}, "attempt_065": {"id": "attempt_065", "p_success": 0.47, "reason": "The pleated skirt edge projects into the right jaw opening, but the commanded descent is small and may leave the closing fingers above the low fabric edge."}, "attempt_066": {"id": "attempt_066", "p_success": 0.77, "reason": "The cap edge reaches into the left finger gap while the other arm supports the cap; the nearly stationary closing command favors an initial seam pinch."}, "attempt_067": {"id": "attempt_067", "p_success": 0.64, "reason": "The zipper tab lies across or just beyond the left fingertips, but the command retreats during closure and the other gripper partly obscures the small target."}, "attempt_068": {"id": "attempt_068", "p_success": 0.69, "reason": "The key and ring are centered between the left fingers, with closure commanded near tabletop height; their thin profile still creates sliding and empty-pinch risk."}, "attempt_069": {"id": "attempt_069", "p_success": 0.7, "reason": "A shirt fold lies between the left fingers while the other arm holds the fabric, but the command rises before full closure and may lose overlap with the fold."}, "attempt_070": {"id": "attempt_070", "p_success": 0.67, "reason": "The right jaws initially bracket the adjacent wooden blocks and narrow around their sides; lateral motion during closure makes firm capture less certain than simple contact."}, "attempt_071": {"id": "attempt_071", "p_success": 0.87, "reason": "The narrow umbrella strap is visibly centered between the right fingers, and early near-full closure while the other arm supports the umbrella favors initial capture."}, "attempt_072": {"id": "attempt_072", "p_success": 0.39, "reason": "The green compact sits against one left fingertip rather than centrally in the gap; the low retreating closure may push or slide it instead of enclosing it."}, "attempt_073": {"id": "attempt_073", "p_success": 0.47, "reason": "The towel corner meets the left fingertip region, but overlap is shallow and closure is commanded slightly above the initial height, leaving an uncertain edge pinch."}, "attempt_074": {"id": "attempt_074", "p_success": 0.33, "reason": "The hanging cable starts above and to one side of the right jaw gap; the right approach moves toward it while the donor reel is commanded upward, leaving uncertain strand alignment at closure."}}, "caveat": ""}], "rows": [{"id": "0a90d037d716f3dd", "pair": 1, "label": "failure", "task": "fold_and_stack_the_t_shirts", "side": "right", "start": 1014, "end": 1034, "action_start": 1013, "action_end_inclusive": 1048, "observation": 1013, "clip": {"start": 1013, "end": 1049, "frames": 37, "fps": 30}, "video_offset": 1.9666666666666666, "agent_id": "attempt_016", "video": 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$('recorded').onchange=filter;$('predicted').onchange=filter;$('attempt').onchange=()=>show(filtered.find(r=>r.agent_id===$('attempt').value));$('camera').onchange=camera;$('speed').onchange=()=>video.playbackRate=Number($('speed').value);$('seek').oninput=()=>seek(Number($('seek').value));$('initial').onclick=()=>seek(current.observation-current.clip.start);$('back').onclick=()=>seek(Number($('seek').value)-1);$('forward').onclick=()=>seek(Number($('seek').value)+1);$('play').onclick=async()=>{if(video.paused){try{if(video.currentTime>=current.video_offset+(current.clip.frames-1)/current.clip.fps-.01)video.currentTime=current.video_offset;await video.play();}catch(e){$('status').textContent=e.message;}}else video.pause();};video.onplay=()=>{$('play').textContent='Pause';};video.onpause=()=>{$('play').textContent='Play';};video.onloadeddata=()=>{video.playbackRate=Number($('speed').value);video.currentTime=current.video_offset;};video.onseeked=()=>{ready=true;$('play').disabled=false;$('status').textContent='';draw();};video.onerror=()=>{if(video.getAttribute('src'))$('status').textContent='Unable to decode clip.';};filter();
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